Current default config in Lerobot is wrong (bs=8; steps=100_000) leading to 12% SR. Historically (2025.08.25), it was bs=64 and steps=200_000 and it did achieve SR 66% as expected from the model card. Using these parameters on a new version of the code also achieves SR 66%. Not using the history of observations n_obs_steps=1 (here is a fix to deal with the missing time dimension) achieves even higher SR, up to 81%.